This controller publishes the controller's code used during the live demo held at Centre des Arts in September 2023.

Live Demo

Control sceencast

• mc_rtc
• lipm_walking_controller
• mc_xsens_plugin
• hrp4_description
• mc-hrp4
• ismpc_walking [optional]
• PahoMqttCpp (optional, only required by the MosquittoPlugin for MQTT communication): sudo apt install ros-noetic-paho-mqtt-cpp

mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
make -8
sudo make install

In your mc_rtc.yaml configuration file:

MainRobot: HRP4::CDA
Enabled: CDADance
Timestep: 0.005

Then you can run in your favorite dynamic simulator (choreonoid, mujoco, ...)

Here is the full demo FSM:

• Artistic direction | Pr. Chu-Yin Chen

• Stage directer | Rocio Berenguer

• Computer graphics | Isadora Teles de Castro

• Robot HRP-4 | Arnaud Tanguy, Hui-Ting Hong

• Performer | Hui-Ting Hong

• Sound | Isadora Teles de Castro

• Stage light | Carine GERARD

• Project CECCI-H2M, supported by EUR ArTeC

• Partners :

  • Labo. INREV-AIAC, Paris 8
  • CDA - Centre des Arts d’Enguien-les-Bains
  • LIRMM - Laboratoire d’informatique, de robotique et de microélectronique de Montpellier